Title :
Contact response maps for real time dynamic simulation
Author :
Ullrich, C. ; Pai, D.K.
Author_Institution :
Inst. of Appl. Math., British Columbia Univ., Vancouver, BC, Canada
Abstract :
We describe the generation and use of “contact response maps” for real time dynamic simulation. Contact response maps are geometry and material dependent maps on physical objects which describe the surface tractions associated with local deformations during contact. We develop a technique for precomputing contact response maps for elastic bodies using the boundary element method to solve the corresponding plane strain problem. Such maps can then be used in a real time simulation environment to accurately resolve collision dynamics
Keywords :
boundary-elements methods; computational geometry; deformation; digital simulation; dynamics; flexible structures; impact (mechanical); mechanical engineering computing; partial differential equations; real-time systems; step response; boundary element method; collision dynamics; contact response maps; data structure; dynamic simulation; elastic bodies; geometry; impact mechanics; local deformations; partial differential equations; real time systems; step response; Boundary element methods; Capacitive sensors; Computational modeling; Computer science; Delay; Discrete event simulation; Geometry; Mathematics; Partial differential equations; Solid modeling;
Conference_Titel :
Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on
Conference_Location :
Leuven
Print_ISBN :
0-7803-4300-X
DOI :
10.1109/ROBOT.1998.680599
